Non-contact surface tracking unit

Abstract

More broadly, the field relates to devices for tracking objects over their entirety, and in particular to devices configured to detect the distance from the surface of an object and to detect peripheral features. [Solution] A tracking unit configured to connect to a robotic device and move across the surface of an object. The tracking unit comprises a body, one or more distance sensors mounted on a first side of the body and configured to detect the distance from the object, and one or more edge sensors mounted on a second side of the body and configured to detect edge features. A controller configured to receive signals from one or more distance sensors and one or more edge sensors is configured to position the body at a certain distance from the object and to prevent contact between the body and the edge features.

Description

Technical Field

[0001] <0001> The present disclosure generally relates to the field of devices for tracking an entire object, and in particular relates to a device configured to detect a distance from a surface of an object and detect a peripheral feature.

Background Art

[0002] <0002> There are various applications in which a device can move across a surface of an object. One example includes a painting head having a painting nozzle that moves across an object while painting the object. Another example includes a sensor that moves across an object during inspection, such as to identify wear or damage to the object. The device is spaced from the surface of the object during use at a distance that depends on certain plural requirements of the process. Some processes are arranged closer (e.g., 0.25 inches to 1.0 inches), while other processes use larger spacing.

[0003] <0003> These processes may include a robotic device that moves the device across the object. This non-contact movement eliminates the possibility that the device damages the object, or prevents damage to the device itself. Furthermore, contact between the device and the object may stop the process, requiring resetting of the robotic device, which can be time-consuming.

[0004] <0004> A robotic system is configured to space the sensing device away from an object during movement. However, the robotic device does not detect peripheral features arranged near the object. Walls or beams adjacent to the object may not be detected, and the robotic device may cause the device to collide with the peripheral features. This collision can damage one or more of the device, the peripheral feature, and the robotic device.

Summary of the Invention

[0005]

[0005] One embodiment relates to a tracking unit connected to a robotic device and configured to move across the surface of an object. The tracking unit comprises a body, one or more distance sensors mounted on a first side of the body and configured to detect the distance from the object, and one or more edge sensors mounted on a second side of the body and configured to detect edge features. A controller, which includes a processing circuit, is configured to receive signals from one or more distance sensors and one or more edge sensors. The controller is configured to position the body at a certain distance from the object and to prevent contact between the body and the edge features.

[0006]

[0006] In another embodiment, one or more distance sensors are mounted on the underside of the body, and one or more periphery sensors are mounted on the side of the body.

[0007]

[0007] In another embodiment, one or more peripheral sensors are arranged at intervals around the center line of the body.

[0008]

[0008] In another embodiment, the Ethernet connector is operably connected to the controller, configured to enable a connection between the controller and the robot device controller.

[0009]

[0009] In another embodiment, the controller is configured to maintain a body at a certain distance away from an object based on a first input from one or more distance sensors, and at the same time to position the body at a distance away from a peripheral feature based on a second input from one or more peripheral sensors.

[0010]

[0010] In another embodiment, the body mount is configured to connect to a robotic device with one or more distance sensors located on the opposite side of the body.

[0011]

[0011] In another embodiment, the body comprises a main section including a centerline and an arm extending outward from the centerline, with one or more distance sensors mounted on the arm and one or more periphery sensors mounted on the main section.

[0012]

[0012] In another embodiment, the first hub connects one or more distance sensors to the controller's processing circuit, and the second hub connects one or more periphery sensors to the processing circuit, and each of the first and second hubs is an I2C hub.

[0013]

[0013] In another embodiment, one or more distance sensors are aligned substantially perpendicular to one or more periphery sensors.

[0014]

[0014] One embodiment relates to a tracking unit configured to be connected to a robotic device and move across the surface of an object. The tracking unit comprises a distance sensor configured to face a first direction and detect the distance from the object, and a periphery sensor configured to face a second direction and detect the distance from a periphery feature. A controller comprises a processing circuit configured to receive signals from the distance sensor and the periphery sensor. The signals allow the tracking unit to remain positioned at a distance from the object and at a distance from the periphery feature.

[0015]

[0015] In another embodiment, the controller is configured to communicate with a robot controller to control the position of the tracking unit relative to an object based on signals from a distance sensor and to control the position of the tracking unit relative to a peripheral feature based on signals from a peripheral sensor.

[0016]

[0016] In another embodiment, the tracking unit comprises a body including a centerline and a mount configured to be aligned along the centerline and connected to a robotic device, wherein the distance sensor is oriented substantially perpendicular to the centerline and the periphery sensor is oriented substantially parallel to the centerline.

[0017]

[0017] In another embodiment, the Ethernet connector is configured to connect the controller to the robot device controller.

[0018]

[0018] In another embodiment, the number of peripheral sensors is greater than the number of distance sensors.

[0019]

[0019] In another embodiment, the controller is configured to maintain the sensor at a certain distance away from the object.

[0020]

[0020] One embodiment relates to a method for moving a tracking unit with respect to an object using a robotic device. The method includes moving the tracking unit across an object using a robotic device while maintaining the tracking unit at a distance from the object, detecting peripheral features in the direction of movement of the tracking unit, determining that the peripheral features are within a predetermined distance from the tracking unit, and stopping the movement of the tracking unit by the robotic device.

[0021]

[0021] In another embodiment, the method further includes keeping the tracking unit at a certain distance from the object while moving the tracking unit across the object.

[0022]

[0022] In another embodiment, the method further includes transmitting a control command to a robotic device and causing the robotic device to move a tracking unit over an object in accordance with the control command.

[0023]

[0023] In another embodiment, the method includes connecting the tracking unit to the robot controller of the robot device using an Ethernet connector.

[0024]

[0024] In another embodiment, stopping the movement of the tracking unit by the robotic device includes stopping the movement of the tracking unit in the direction of movement.

[0025]

[0025] The above-mentioned features, functions, and advantages can be implemented independently in various aspects, or can be combined in a plurality of other aspects. Details hereof can be confirmed by referring to the following description and the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] [Figure 1]

[0026] It is a schematic side view of a tracking unit disposed on an object and configured to be moved by a robotic device. [Figure 2A]

[0027] It is an isometric view of the tracking unit. [Figure 2B]

[0028] It is a side view of the tracking unit in Fig. 2A. [Figure 3] It is a schematic diagram of a controller of the tracking unit. [Figure 4]

[0030] It is a schematic diagram of a distance sensor and a peripheral sensor connected to a controller via a hub. [Figure 5]

[0031] It is a schematic diagram of a robotic device connected to a tracking unit and configured to move the tracking unit relative to an object. [Figure 6A]

[0032] It is a schematic side view of a tracking unit disposed relative to a peripheral feature with respect to an object. [Figure 6B]

[0033] It is a schematic side view of the tracking unit in Fig. 6A positioned closer to the peripheral feature. [Figure 7] It is a flowchart of a method for initializing a tracking unit. [Figure 8]

[0035] It is a flowchart of a method for moving a tracking unit relative to an object using a robotic device. [Figure 9]

[0036] It is a schematic diagram of a controller of a robotic device. DETAILED DESCRIPTION OF EMBODIMENTS

[0027]

[0037] Figure 1 schematically shows a tracking unit 20 connected to a robotic device 200 and configured to move across an object 100. The tracking unit 20 includes a first sensor array 39 configured to detect the surface 101 of the object 100. The tracking unit 20 also includes a second sensor array 49 configured to detect peripheral features 110. The tracking unit 20 receives signals from sensor arrays 39, 49 and communicates with the robotic device 200 to maintain a distance from the object 100 and the peripheral features 110.

[0028]

[0038] Object 100 may include a variety of components. Multiple examples, non-limiting, include vehicle parts (e.g., aircraft panels, car fenders), raw materials (e.g., aluminum sheets), and structural components (e.g., building walls, test area surfaces). One or more peripheral features 110 are located in close proximity to object 100. In some embodiments, the peripheral features are parts of object 100, such as flanges, ribs, and arms, extending above the surface 101 monitored by the device. In some embodiments, the peripheral features 110 are separate objects located adjacent to the object, such as frames or tables supporting the object. Other multiple examples of peripheral features 110 include, non-limiting, objects within the workspace of object 100, such as other machinery, other robotic devices, and workers. Peripheral features 110 may be static (not moving) or dynamic (moving).

[0029]

[0039] Figures 2A and 2B show a tracking unit 20. The tracking unit 20 includes a body 21 having a mount 22 configured to connect to a robotic device 200. In some embodiments, the mount 22 is configured to connect to the end of an arm of the robotic device 200, enabling the tracking unit 20 to function as an end effector. The body 21 includes a centerline C extending through the body 21. In some embodiments, the mount 22 is aligned along the centerline C.

[0030]

[0040] In the embodiments shown in Figures 2A and 2B, the body 21 includes a main section 23 and an outwardly extending arm 24. The main section 23 includes a surface aligned in a first direction, and the arm 24 includes a surface aligned in a different direction. In some embodiments, the surface of the main section 23 is substantially perpendicular to the surface of the arm 24. In the embodiments shown in Figures 2A and 2B, the surface of the main section 23 is substantially aligned with the center line C.

[0031]

[0041] The first sensor array 39 includes one or more sensors 30 aligned in a first direction. In the embodiments of Figures 2A and 2B, the first sensor 30 is mounted on the arm 24 and faces downward. The first sensor array 39 is configured to detect the surface 101 of an object 100. This detection is configured to be used to maintain the tracking unit 20 spaced away from the surface 101. The number and arrangement of the sensors 30 can vary. In one embodiment, the sensors 30 are arranged uniformly spaced along each tracking unit of the arm 24 and aligned in the x / y plane.

[0032]

[0042] The second sensor array 49 includes one or more sensors 40 aligned in a second direction. In some embodiments, the sensors 40 are mounted on the main section 23 and oriented outward to detect peripheral features 110. The number and arrangement of the sensors 40 may vary. In some embodiments, the sensors 40 are arranged at uniform intervals around the main section 23 and oriented outward from the centerline C.

[0033]

[0043] Various different types of sensors 30, 40 may be used on the tracking unit 20. One embodiment includes a sensor that uses a magnetic field to detect an object. The sensor includes one or more photoresistors, an infrared transceiver, and an ultrasonic sensor. Several other embodiments include an infrared transceiver that measures and detects infrared radiation. In some embodiments, the infrared transceiver is an active sensor that both emits and detects infrared radiation and includes a light-emitting diode and a receiver. Several other infrared sensors are passive and only detect infrared radiation. Several other embodiments include an ultrasonic sensor that emits ultrasound and determines distance by detecting the reflected signal. In some embodiments, sensors 30, 40 include one or more cameras that capture images, including individual still images and video images. The cameras may include a single sensor element configured to produce a two-dimensional image, or multiple elements for capturing a three-dimensional image. In some embodiments, sensors 30, 40 utilize LIDAR.

[0034]

[0044] In some embodiments, sensor 30 is the same as in several other examples, each including two or more different types of sensors. Similarly, sensor 40 may each be the same or may include several different types of sensors. Sensors 30 and 40 may be the same or may be different.

[0035]

[0045] Sensors 30 and 40 detect the surroundings at various frequencies. Sensors 30 and 40 provide real-time feedback that allows the tracking unit 20 to move without contact with the object 100 or the peripheral feature 110. In some embodiments, sensors 30 and 40 monitor their surroundings and provide signals at regular intervals. Sensors 30 and 40 can increase or decrease the frequency of their signals when certain events occur, for example, by increasing the frequency when sensors 30 and 40 detect that the tracking unit 20 is within a predetermined range of the peripheral feature 110.

[0036]

[0046] The tracking unit 20 includes a controller 90 for controlling the movement of the tracking unit 20. In some embodiments, the controller 90 is mounted inside the body 21 to protect various components. Several other embodiments include a controller 90 located remotely from the body 21. Figure 3 schematically shows a controller 90 that includes a processing circuit 91 that operates according to program instructions 93 stored in a memory circuit 92. The processing circuit 91 includes one or more circuits, microcontrollers, microprocessors, hardware, or a combination thereof. The processing circuit 91 may include varying amounts of computing power to provide the required functionality.

[0037]

[0047] The memory circuit 92 includes a non-transient computer-readable storage medium storing program instructions 93, such as a computer program product, which configures the processing circuit 91 to implement one or more of the techniques described herein. The memory circuit 92 may include various memory devices, such as read-only memory and flash memory. The memory circuit 92 may be a separate component, as shown in Figure 3, or it may be incorporated into the processing circuit 91. Alternatively, the processing circuit 91 may omit the memory circuit 92, for example, according to at least some embodiments in which the processing circuit 91 is dedicated and non-programmable.

[0038]

[0048] The communication circuit 94 transmits and receives signals from one or more of the system's components. These components include, but are not limited to, sensors 30, 40, and the robotic device 200. The communication circuit 94 may provide one-way or two-way communication with the components. The communication circuit 94 may also provide communication between the control unit 90 and remote nodes (e.g., operator equipment, servers, databases). A clock 95 is used to track the timing of the movements of the robot 40 and / or the tracking unit 20.

[0039]

[0049] The user interface 96 allows the user to control one or more aspects of the system during operation. The user interface 96 includes, but is not limited to, one or more input devices 98, such as a keypad, touchpad, rollerball, and joystick. The user interface 96 also includes one or more displays 97 for displaying test information and / or for the operator to input commands to the processing circuit 91.

[0040]

[0050] In some embodiments, the tracking unit 20 includes a power source, such as one or more batteries, to power one or more components. Furthermore, or alternatively, the communication unit 20 receives power from the robotic device 200, for example, via connector 85 and / or a separate set of connectors.

[0041]

[0051] Figure 4 shows a configuration in which the communication circuit 94 includes a hub 88 for communicating with sensor 30 and a hub 89 for communicating with sensor 40. Hubs 88 and 89 include individual ports for communicating with each of the sensors 30 and 40 on the same bus (e.g., an I2C bus). Hubs 88 and 89 provide data from sensors 30 and 40 to the processing circuit 91. Connector 85 enables connection to the robot device 200. In some embodiments, connector 85 is an Ethernet connector. The robot device 200 includes a controller 210 that controls the movement of the robot device 200. Connector 85 may also provide power from the robot device 200 to the tracking unit 20 to operate one or more of its components.

[0042]

[0052] Figure 5 shows a robotic device 200 configured to move a tracking unit 20. The robot 200 includes a base 207 supporting one or more linkages 208. The base 207 may be configured to be positioned in a fixed location, or it may include wheels or be otherwise movable relative to the object 100. Articulated joints 209 provide relative movement between the linkages 208 and / or the tracking unit 20. The size, shape, and mobility of the robotic device 200 may vary depending on the type of job being performed. In some embodiments, the robotic device 200 is enabled to move within the range of one or more of six different axes (i.e., a 6-axis device). In some embodiments, the robotic device 200 is a cobot (collaborative robot) working with or near workers in a shared workspace.

[0043]

[0053] The tracking unit 20 is physically connected to the robot device 200 at the mount 22. Connector 85 allows the tracking unit 20 to be electrically connected to the robot device connector 215 to enable communication with the robot device controller 210. In some embodiments, the tracking unit 20 controls the operation of the robot device 200 via the controller 90. In several other embodiments, the robot device 200 is controlled by the controller 210. The controller 210 receives data from sensors 30, 40 to determine movement.

[0044]

[0054] The tracking unit 20 moves across the object 100 during operation, as shown in Figures 6A and 6B. As shown in Figure 6A, one or more sensors 30 are arranged to detect the distance X between the body 21 and the surface of the object 100. During the movement of the tracking unit 20, indicated by arrow M, signals from the sensors 30 maintain a distance from the object 100 and prevent contact with the object 100. The distance X may be the same or may vary during movement M. In some embodiments, signals from the sensors 30 also allow the tracking unit 20 to maintain an orientation tangent to the surface of the object 100.

[0045]

[0055] One or more sensors 40 detect the distance from one or more peripheral features 110. This allows the tracking unit 20 to move around the object while maintaining a distance Y away from the peripheral features 110. This buffer zone, measured by distance Y, is a safety zone that prevents the tracking unit 20 from coming within a predetermined distance of the peripheral features 110. As shown in Figure 6B, when the tracking unit 20 moves within a predetermined distance of the peripheral features 110, movement M in the direction toward the peripheral features 110 is prevented. This provides collision avoidance protection that prevents contact between the communication unit 20 and the peripheral features 110. In some embodiments, the robotic device 200 completely stops the movement of the tracking unit 20 when the tracking unit 20 is within the safety zone. In several other embodiments, the robotic device 200 stops movement toward the peripheral features 110 but allows movement in several other directions away from the peripheral features 110.

[0046]

[0056] Distances X and Y can be measured from multiple different locations on the tracking unit 20. In some embodiments, a tool center point TCP is identified relative to the body 21 of the tracking unit 20. The location of the tracking unit 20 is identified based on TCP. In other embodiments, the distance X between the tracking unit 20 and the object 100 is identified from the edge of the body 21 closest to the object 100, where the sensor 30 is attached. Similarly, the distance Y between the tracking unit 20 and the peripheral feature 110 is identified from the edge closest to the peripheral feature 110, where the sensor 40 is attached.

[0047]

[0057] Figure 7 shows the process by which the communication unit 20 is first used. The tracking unit 20 is attached to the robot device (block 300). In some embodiments, this includes connecting the mount 22 to the end of the robot device 200. This connection also includes connecting the tracking device controller 90 to the robot device controller 210 by engaging the tracking unit connector 85 with the robot device connector 215 (block 302). Once the tracking unit 20 is connected, it is initialized (block 304). Initialization may include moving the tracking unit 20 over the object 100 and determining the distance from the object 100. This movement may also include moving the tracking unit 20 to a position where the sensor 40 detects the peripheral feature 110. The position of the tracking unit 20 is monitored during initialization to determine that this distance corresponds to the expected result. The initialization process may be performed by either or both the tracking device controller 90 and the robot device controller 210.

[0048]

[0058] Figure 8 shows how the tracking unit 20 operates on object 100. The tracking unit 20 is moved across object 100 by a robotic device (block 310). During movement, sensors 30 and 40 monitor the distance from object 100 and the peripheral feature 110, respectively (block 312). In some embodiments, the tracking unit 20 moves along object 100 at a constant distance away from it. In some embodiments, signals from sensor 30 also enable the tracking unit 20 to move tangent to the curved surface of object 100.

[0049]

[0059] During movement, the sensor 40 monitors one or more peripheral features 110 (block 314). If no peripheral features 110 are detected, movement of the object 100 continues. If peripheral features 110 are detected, the distance from the tracking unit 20 is determined (block 316). If this distance is longer than the distance of a predetermined safety zone, the movement of the object 100 continues. If this distance is within the safety zone, the movement of the tracking unit 20 is stopped (block 318). By stopping the movement, a collision between the tracking unit 20 and the peripheral features 110 is prevented.

[0050]

[0060] One particular embodiment of the use of the tracking unit includes multiple sensors 30 (e.g., four sensors) mounted in the X-Y plane on the body 21. The distance from the object 100 is detected and sent to the controller 90. The controller 90 calculates a roll angle to balance the sensors 30 in the X and Y axes. A roll command is sent via the Ethernet connector 85 to allow the controller 210 to adjust its movement in real time based on the sensor inputs. This monitoring is performed in a constant loop to allow the controller 210 to continuously adjust to the shape of the object 100 as the tracking unit 20 moves along the movement path M. In some embodiments, the distance from the object 100 is calculated using a minimum number of inputs from different sensors 30.

[0051]

[0061] In addition to sensor 30, sensors 40 of the same type are arranged as a circuit array on the body 21, such as on the main section 23. Each sensor 40 is aligned perpendicular to the plane on which the sensors 40 are aligned. The sensors 40 are configured to read the periphery diagram of the tool path M. A threshold is set for the safety zone of the periphery feature 110. When sensor 40 detects that the tracking unit 20 has entered the safety zone, a stop command is triggered on the robotic device 200. The stop command overrides other movements until the periphery feature 110 is cleared from the safety zone.

[0052]

[0062] In some embodiments, the tracking unit 20 is integrated. The controller 90 then handles input from sensors 30 and 40, interval calculations, and control logic. The controller 90 then signals the controller 210 of the robot device 200. The controller 210 is configured to receive and operate according to external commands. This configuration allows for easy replacement of the tracking unit 20 and connection to different robot devices 200.

[0053]

[0063] In several other embodiments, the controller 90 signals one or more control and / or sensor inputs to the robot device controller 210. The control logic is determined by the controller 210. The controller 210 controls the movement and operation of the robot device 200 to maintain a distance from the object 100 and from the peripheral features 110.

[0054]

[0064] Figure 9 schematically shows a robot device controller 210. The controller 210 includes a processing circuit 201 which includes one or more circuits, microcontrollers, microprocessors, hardware, or combinations thereof. The processing circuit 201 may include varying amounts of computing power to provide the required functions. The memory circuit 202 includes a non-transient computer-readable storage medium storing program instructions 203, such as computer program products. This configures the processing circuit 201 to implement one or more of the techniques described herein. The memory circuit 202 may include various memory devices, such as read-only memory and flash memory.

[0055]

[0065] The communication circuit 204 provides the ability to send and receive signals from the controller 90 of the communication unit 20. The communication circuit 204 can also enable communication with remote nodes such as operators, other robotic devices, servers, and remote databases, but is not limited to these.

[0056]

[0066] The user interface 206 allows an operator to control one or more aspects of the system during operation. The user interface 206 includes, but is not limited to, one or more input devices such as a keypad, touchpad, rollerball, and joystick. The user interface 206 also includes one or more displays for displaying test information and / or for the operator to input commands to the processing circuit 201.

[0057]

[0067] The phrase "substantially" in relation to quantities or measurements means that it is not necessary to achieve the listed characteristics, parameters, or values ​​exactly. Rather, deviations or variations (including, for example, tolerances, measurement errors, measurement accuracy limits, and other factors known to those skilled in the art) may occur, to the extent that they do not negate the effect intended to be produced by the features.

[0058]

[0068] Spatially relative terms such as "under," "below," "lower," "over," and "upper" are used to describe the placement of one element relative to a second element, for the sake of clarity. These terms are intended to encompass various orientations of the device, in addition to orientations different from those shown in the drawings. Furthermore, terms such as "first" and "second" are also used to describe various elements, areas, sections, etc., and are not intended to be limiting. Similar terms refer to similar elements throughout the description.

[0059]

[0069] The present invention may, of course, be carried out in ways different from those specifically described herein, without departing from the essential characteristics of the invention. This embodiment should be considered in all respects as illustrative and non-limiting, and all modifications that fall within the meaning and scope of the claims are intended to be encompassed within the claims.

Claims

1. A tracking unit configured to connect to a robotic device and move across the surface of an object, Body (21), One or more distance sensors (30) are attached to the first side of the body (21) and configured to detect the distance from the object. One or more peripheral sensors (40) attached to the second side surface of the body (21) and configured to detect peripheral features, and A tracking unit comprising a controller (90) having a processing circuit (91), configured to receive signals from one or more distance sensors (30) and one or more peripheral sensors (40), and configured to position the body (21) at a certain distance from the object and to prevent contact between the body (21) and the peripheral feature.

2. The tracking unit according to claim 1, wherein the one or more distance sensors (30) are attached to the lower surface of the body (21), and the one or more peripheral sensors (40) are attached to the side surface of the body (21).

3. The tracking unit according to claim 2, wherein the one or more peripheral sensors (40) are arranged at intervals around the center line of the body (21).

4. The tracking unit according to claim 1, further comprising an Ethernet connector (85) operably connected to the controller (90) in a configuration that enables connection between the controller (90) and the robot device controller (210).

5. The tracking unit according to claim 1, wherein the controller (90) is configured to maintain the body (21) at a certain distance away from the object based on a first input from the one or more distance sensors (30), and at the same time, to position the body (21) at a distance away from the peripheral feature based on a second input from the one or more peripheral sensors (40).

6. The tracking unit according to claim 1, further comprising a mount (22) of the body (21) configured to connect to the robot device, positioned on the opposite side of the body (21) from the one or more distance sensors (30).

7. The tracking unit according to claim 1, wherein the body (21) comprises a main section (23) including a center line and an arm (24) extending outward from the center line, the one or more distance sensors (30) are attached to the arm (24), and the one or more peripheral sensors (40) are attached to the main section (23).

8. The tracking unit according to claim 1, further comprising: a first hub (88) connecting one or more distance sensors (30) to the processing circuit (91) of the controller (90); and a second hub (89) connecting one or more peripheral sensors (40) to the processing circuit (91), wherein each of the first hub (88) and the second hub (89) is an I2C hub.

9. The tracking unit according to claim 1, wherein the one or more distance sensors (30) are aligned substantially perpendicularly to the one or more peripheral sensors (40).

10. A tracking unit configured to connect to a robotic device and move across the surface of an object, A distance sensor (30) is oriented in a first direction and configured to detect the distance from the object. A peripheral sensor (40) oriented in a second direction and configured to detect the distance from peripheral features, and The controller (90) includes a processing circuit (91) configured to receive signals from the distance sensor (30) and the peripheral sensor (40), The signal enables the tracking unit to remain positioned at a distance from the object and at a distance from the peripheral feature.

11. The tracking unit according to claim 10, wherein the controller (90) is configured to communicate with a robot controller (210) to control the position of the tracking unit relative to the object based on the signal from the distance sensor (30), and to control the position of the tracking unit relative to the peripheral feature based on the signal from the peripheral sensor (40).

12. Body (21) including the center line, The system further comprises a mount (22) which is aligned along the aforementioned center line and configured to connect to the robotic device, The distance sensor (30) is oriented in a direction substantially perpendicular to the center line, The tracking unit according to claim 10, wherein the peripheral sensor (40) is oriented in a direction substantially parallel to the center line.

13. The tracking unit according to claim 10, further comprising an Ethernet connector (85) configured to connect the controller (90) to a robot device controller.

14. The tracking unit according to claim 10, wherein the number of peripheral sensors (40) is greater than the number of distance sensors (30).

15. The tracking unit according to claim 10, wherein the controller (90) is configured to maintain the distance sensor (30) at a certain distance away from the object.

16. A method for moving a tracking unit relative to an object using a robotic device, While the tracking unit (20) is maintained at a distance from the object, the robotic device is used to move the tracking unit (20) across the object. To detect peripheral features in the direction of movement of the tracking unit (20), Determining that the peripheral feature is within a predetermined distance from the tracking unit (20), and A method comprising stopping the movement of the tracking unit (20) by the robotic device.

17. The method according to claim 16, further comprising keeping the tracking unit (20) at a certain distance from the object while moving the tracking unit (20) across the object.

18. The method according to claim 16, further comprising transmitting a control command to the robot device and causing the robot device to move the tracking unit (20) over the object in accordance with the control command.

19. The method according to claim 16, further comprising connecting the tracking unit (20) to the robot controller (90) of the robot device using an Ethernet connector (85).

20. The method according to claim 16, wherein stopping the movement of the tracking unit (20) by the robot device includes stopping the movement of the tracking unit (20) in the direction of the movement.

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